Robot Velocity Based Path Planning Along Bezier Curve Path
نویسندگان
چکیده
This paper presents a path planning method considering physical limits for two-wheeled mobile robots (TMRs). A convolution operator is used to generate the center velocity trajectory to travel the distance along predefined Bezier curve while considering the physical limits. The trajectory gained through convolution does not consider the rotating angle of TMR, so we present a transformational method for the center velocity trajectory along the planned path as a function of time for the parameter of the Bezier curve.
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